A circuit for sensing the magnitude and sense of a current flowing through the load of an H-bridge stage driving the load in a switching mode by means of a clocked, square-wave driving signal and the inverted signal thereof applied, respectively, to two pairs of analog switches arranged in a bridge configuration and functionally switching the load between a supply node and a virtual ground node is made by utilizing a single sensing resistance connected between the virtual ground node and the real ground node of the circuit, the signal across the resistance and the inverted signal thereof are fed to two inputs of an analog multiplex whose output signal is fed to the input of a comparator in order to obtain at the output of the latter a signal with an amplitude proportional to the intensity of the current and a polarity determined by the polarity of a reference voltage which is applied to another input of the comparator. The PWM control loop may then be completed by means of a flip-flop to the inputs of which the output signal of the comparator and a clock signal are applicable in order to generate at the output of the flip-flop the clocked driving signal.